[Wei]

30 FPS at the highest image size is possible. This is what was we had to do to get those results. However, we did not run at 30 FPS (at competition) because it wasn't needed.

Changes to the C++ platform:
1 - Alter the Template Robot code
1.1 -(BIGGIE) remove continuously processing functions
1.2 - all code run in periodicFunctions (TeleOp and Auto. mode)
1.3 (BIGGIE) Use semaphores and Timer Task to control periodic function execution instead of reading the time/clock continuously to determine when the periodic functions should execute.

2 - Optimize the image processing functions to not process false positives.

3 - Configure Camera and Image processing functions/task to a lower priority

What the changes accomplish:
1.1 and 1.3 doubles the processing power available for Image processing (about 50% increase).
1.1, 1.3 combine with 3 decrease task switching cost (about 1 to 5 % processing gain, a few more percentage gains is possible if you area willing to play with the system clock).
2 - Depending on how much optimizing is done, Image processing cost can be decrease by at least 50%.